From 401ee703647a575483a8ab115fa65c388d3818c4 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 28 Dec 2014 17:14:04 +0100
Subject: [PATCH] Fixed overload resoltion error in template matching by
 removing overloads in traits

---
 gtsam/base/Lie.h                              | 26 ++++++-------------
 gtsam/nonlinear/expressions.h                 |  4 +--
 .../examples/Pose2SLAMExampleExpressions.cpp  |  6 +++--
 3 files changed, 14 insertions(+), 22 deletions(-)

diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index 4a42bccf8..9c410ac25 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -144,9 +144,6 @@ struct LieGroupTraits : Testable<Class> {
   /// @{
   typedef multiplicative_group_tag group_flavor;
   static Class Identity() { return Class::identity();}
-  static Class Compose(const Class& m1, const Class& m2) { return m1 * m2;}
-  static Class Between(const Class& m1, const Class& m2) { return m1.inverse() * m2;}
-  static Class Inverse(const Class& m) { return m.inverse();}
   /// @}
 
   /// @name Manifold
@@ -161,21 +158,13 @@ struct LieGroupTraits : Testable<Class> {
 
   static int GetDimension(const Class&) {return dimension;}
 
-  static TangentVector Local(const Class& origin, const Class& other) {
-    return origin.localCoordinates(other);
-  }
-
-  static Class Retract(const Class& origin, const TangentVector& v) {
-    return origin.retract(v);
-  }
-
   static TangentVector Local(const Class& origin, const Class& other,
-      ChartJacobian Horigin, ChartJacobian Hother = boost::none) {
+      ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
     return origin.localCoordinates(other, Horigin, Hother);
   }
 
   static Class Retract(const Class& origin, const TangentVector& v,
-      ChartJacobian Horigin, ChartJacobian Hv = boost::none) {
+      ChartJacobian Horigin = boost::none, ChartJacobian Hv = boost::none) {
     return origin.retract(v, Horigin, Hv);
   }
 
@@ -192,17 +181,18 @@ struct LieGroupTraits : Testable<Class> {
     return Class::Expmap(v, Hv);
   }
 
-  static Class Compose(const Class& m1, const Class& m2, ChartJacobian H1,
-      ChartJacobian H2 = boost::none) {
+  static Class Compose(const Class& m1, const Class& m2, //
+      ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
     return m1.compose(m2, H1, H2);
   }
 
-  static Class Between(const Class& m1, const Class& m2, ChartJacobian H1,
-      ChartJacobian H2 = boost::none) {
+  static Class Between(const Class& m1, const Class& m2, //
+      ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
     return m1.between(m2, H1, H2);
   }
 
-  static Class Inverse(const Class& m, ChartJacobian H) {
+  static Class Inverse(const Class& m, //
+      ChartJacobian H = boost::none) {
     return m.inverse(H);
   }
 
diff --git a/gtsam/nonlinear/expressions.h b/gtsam/nonlinear/expressions.h
index 18d0d5d8f..a549517e5 100644
--- a/gtsam/nonlinear/expressions.h
+++ b/gtsam/nonlinear/expressions.h
@@ -8,14 +8,14 @@
 #pragma once
 
 #include <gtsam/nonlinear/Expression.h>
-#include <boost/bind.hpp>
+#include <gtsam/base/Lie.h>
 
 namespace gtsam {
 
 // Generics
 template<typename T>
 Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) {
-  return Expression<T>(t1, &T::between, t2);
+  return Expression<T>(traits<T>::Between, t1, t2);
 }
 
 typedef Expression<double> double_;
diff --git a/gtsam_unstable/examples/Pose2SLAMExampleExpressions.cpp b/gtsam_unstable/examples/Pose2SLAMExampleExpressions.cpp
index 3a3b97b77..e9ccbb2cb 100644
--- a/gtsam_unstable/examples/Pose2SLAMExampleExpressions.cpp
+++ b/gtsam_unstable/examples/Pose2SLAMExampleExpressions.cpp
@@ -18,8 +18,8 @@
  */
 
 // The two new headers that allow using our Automatic Differentiation Expression framework
-#include <gtsam_unstable/slam/expressions.h>
-#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
+#include <gtsam/slam/expressions.h>
+#include <gtsam/nonlinear/ExpressionFactor.h>
 
 // Header order is close to far
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@@ -48,6 +48,8 @@ int main(int argc, char** argv) {
   noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
 
   // 2b. Add odometry factors
+  BinaryExpression<Pose2, Pose2, Pose2>::Function f = traits<Pose2>::Between;
+  Expression<Pose2>(traits<Pose2>::Between, x1, x2);
   graph.push_back(ExpressionFactor<Pose2>(model, Pose2(2, 0, 0     ), between(x1,x2)));
   graph.push_back(ExpressionFactor<Pose2>(model, Pose2(2, 0, M_PI_2), between(x2,x3)));
   graph.push_back(ExpressionFactor<Pose2>(model, Pose2(2, 0, M_PI_2), between(x3,x4)));